绑定设备+覆盖模式+控制显示bug+在线更新

lib/features/devices/presentation/bloc/device_status_bloc.dart

@@ -7,10 +7,12 @@ import 'package:maibu_satabot_v2/features/devices/domain/entities/running_status
 import 'package:maibu_satabot_v2/features/devices/domain/entities/gps_entity.dart';
 import 'package:maibu_satabot_v2/core/network/protocol_decoder.dart';
 import 'package:maibu_satabot_v2/core/network/mqtt/domain/repositories/task_message_repository.dart';
+import 'package:maibu_satabot_v2/core/network/mqtt/domain/repositories/mower_realtime_repository.dart';
 import 'package:maibu_satabot_v2/core/network/mqtt/domain/entities/task_arrive_entity.dart';
 import 'package:maibu_satabot_v2/core/network/mqtt/domain/entities/task_status_entity.dart';
 
 import '../../../../core/logging/i_logger_service.dart';
+import '../../../../core/logging/log_time.dart';
 import '../../../../core/network/net_message_dispatcher.dart';
 import '../../../../core/network/tcp/tcp_client.dart';
 import 'device_status_event.dart';
@@ -20,6 +22,10 @@ import 'devices_cubit.dart';
 // 定义全局的TaskMessageRepository获取方式
 TaskMessageRepository get _taskMessageRepo => GetIt.I<TaskMessageRepository>();
 
+// 🔥 MQTT机器状态数据源（替代TCP 0x02）
+MowerRealtimeRepository get _mowerRealtimeRepo =>
+    GetIt.I<MowerRealtimeRepository>();
+
 class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
   final NetMessageDispatcher _dispatcher;
   final TcpClient tcpClient; // 🔥 新增:直接访问 TcpClient
@@ -30,6 +36,10 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
   StreamSubscription? _mqttArriveSubscription;
   StreamSubscription? _mqttStatusSubscription;
 
+  // 🔥 MQTT机器状态订阅（车辆实时+定位，替代TCP 0x02）
+  StreamSubscription? _mqttVehicleSubscription;
+  StreamSubscription? _mqttLocationSubscription;
+
   // 🔥 节流相关：500ms节流控制0x02数据推送频率
   Timer? _throttleTimer;
   static const _throttleDuration = Duration(milliseconds: 500);
@@ -42,11 +52,17 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
   // 🔥 当前监听的设备ID
   String? _currentDeviceId;
 
+  // 🔥 MQTT机器状态收帧计数（用于链路日志）
+  int _mqttVehicleFrameCount = 0;
+  int _mqttLocationFrameCount = 0;
+
   DeviceStatusBloc(this._dispatcher, {TcpClient? client})
     : tcpClient = client ?? GetIt.I<TcpClient>(),
       super(DeviceStatusInitial()) {
     // 🔥 核心改动:直接在构造函数中建立TCP监听,类似RemoteControlCubit
-    _initDirectTcpListener();
+    // 🔥 已停用:机器状态数据源已改为MQTT（见 startMqttRealtimeListening，
+    //     由用户切换设备时触发）。TCP监听逻辑保留，回滚时取消下行注释即可。
+    // _initDirectTcpListener();
 
     // 🔥 初始化MQTT到达点监听
     _initMqttArriveListener();
@@ -191,6 +207,86 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
     _logger.log('✅ [DeviceStatusBloc] 直接TCP监听器已建立完成');
   }
 
+  /// 🔥 MQTT机器状态监听（替代TCP 0x02数据源）
+  ///
+  /// [deviceSn] 与TCP时代 switchDevice / connectBySwitch 的设备号获取方式一致
+  /// （即 DeviceEntity.deviceName），由用户点击设备列表切换设备时调用。
+  ///
+  /// 第一阶段：订阅并打印原始报文；确认格式后在第二阶段解析为
+  /// RunningStatusEntity + GPSEntity，复用现有500ms节流逻辑。
+  void startMqttRealtimeListening(String deviceSn) {
+    if (deviceSn.isEmpty) {
+      debugPrint('${LogTime.now()} ⚠️ [DeviceStatusBloc] MQTT订阅跳过：设备SN为空');
+      return;
+    }
+
+    debugPrint('${LogTime.now()} 🚀 [DeviceStatusBloc] 启动MQTT机器状态监听: $deviceSn');
+
+    // 按SN订阅（数据源内部自动退旧订新、同SN去重）
+    _mowerRealtimeRepo.startListening(deviceSn: deviceSn).then((result) {
+      result.fold(
+        (failure) => debugPrint(
+          '${LogTime.now()} ❌ [DeviceStatusBloc] MQTT机器状态订阅失败: ${failure.message}',
+        ),
+        (_) => debugPrint(
+          '${LogTime.now()} ✅ [DeviceStatusBloc] MQTT机器状态订阅完成: $deviceSn',
+        ),
+      );
+    });
+
+    // 切换设备时重置收帧计数，便于观察新设备的首帧与频率
+    _mqttVehicleFrameCount = 0;
+    _mqttLocationFrameCount = 0;
+
+    // 流监听只建立一次，第一阶段仅打印解析结果验证链路
+    _mqttVehicleSubscription ??= _mowerRealtimeRepo.vehicleStream.listen((
+      message,
+    ) {
+      _mqttVehicleFrameCount++;
+      debugPrint(
+        '${LogTime.now()} 📊 [MQTT-机器状态] 车辆实时第$_mqttVehicleFrameCount帧 type=${message.type} 数据点=${message.data.length}',
+      );
+      // TODO 第二阶段:将数据点映射到 RunningStatusEntity 字段，复用500ms节流emit
+    });
+
+    _mqttLocationSubscription ??= _mowerRealtimeRepo.locationStream.listen((
+      location,
+    ) {
+      _mqttLocationFrameCount++;
+      debugPrint(
+        '${LogTime.now()} 📍 [MQTT-location] 定位第$_mqttLocationFrameCount帧 lat=${location.latitude}, lng=${location.longitude}, heading=${location.heading}',
+      );
+
+      // 🔥 核心：用 MQTT location 数据更新缓存并节流 emit
+      if (location.isValid) {
+        // 更新 _cachedGps
+        _cachedGps = GPSEntity(location.latitude!, location.longitude!);
+
+        // 更新 _cachedStatus 中的航向角和坐标（复用已有缓存或新建空壳）
+        final base = _cachedStatus ?? RunningStatusEntity();
+        _cachedStatus = base.copyWith(
+          latitude: location.latitude!,
+          longitude: location.longitude!,
+          yaw: location.heading ?? base.yaw,
+        );
+
+        // 500ms节流：与 TCP 0x02 时代逻辑一致
+        if (_throttleTimer == null || !_throttleTimer!.isActive) {
+          _throttleTimer = Timer(_throttleDuration, () {
+            _emitCachedStatus();
+          });
+        }
+      } else {
+        debugPrint(
+          '${LogTime.now()} ⚠️ [MQTT-location] 坐标无效，跳过 - lat=${location.latitude}, lng=${location.longitude}',
+        );
+      }
+    });
+
+    debugPrint('${LogTime.now()} ✅ [DeviceStatusBloc] MQTT机器状态监听已启动: $deviceSn');
+    _logger.log('✅ [DeviceStatusBloc] MQTT机器状态监听已启动: $deviceSn');
+  }
+
   // 🔥 初始化MQTT到达点监听
   void _initMqttArriveListener() {
     debugPrint('🔗 [DeviceStatusBloc] 初始化MQTT到达点监听器');
@@ -304,7 +400,7 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
   // 🔥 节流发射：500ms到期后发射缓存的最新数据
   void _emitCachedStatus() {
     if (_cachedStatus != null && _cachedGps != null && !isClosed) {
-      debugPrint('📤 [0x02] 节流发射 | 电压=${_cachedStatus!.voltage}V 电量=${_cachedStatus!.battery}% 经纬度=(${_cachedGps!.latitude}, ${_cachedGps!.longitude}) | ${DateTime.now().toString().substring(11, 19)}');
+      debugPrint('📤 [节流发射] 电压=${_cachedStatus!.voltage}V 电量=${_cachedStatus!.battery}% 经纬度=(${_cachedGps!.latitude}, ${_cachedGps!.longitude}) yaw=${_cachedStatus!.yaw} | ${DateTime.now().toString().substring(11, 19)}');
       emit(DeviceStatusUpdated(_cachedStatus!, _cachedGps!));
     }
   }
@@ -423,6 +519,12 @@ class DeviceStatusBloc extends Bloc<DeviceStatusEvent, DeviceStatusState> {
     _mqttStatusSubscription?.cancel();
     _mqttStatusSubscription = null;
 
+    // 🔥 清理MQTT机器状态订阅
+    _mqttVehicleSubscription?.cancel();
+    _mqttVehicleSubscription = null;
+    _mqttLocationSubscription?.cancel();
+    _mqttLocationSubscription = null;
+
     // 🔥 清理节流timer和缓存
     _throttleTimer?.cancel();
     _throttleTimer = null;